Simply put..... It all depends on what you trying to achieve with your image.
RAW provides you with much more information to work with than a JPEG. In a perfect world, you should always shoot RAW and then save a copy of your image to whatever image type you want (JPG, PNG, etc.). Only shooting in a compressed mode such as JPEG automatically puts you at a disadvantage.
Most decent cameras allow you to shoot RAW+JPEG.
Most situations work fine shooting in JPEG, but RAW gives you more control.
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